Coordinated path following of unicycles : A nested invariant sets approach
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We formulate a coordinated path following problem for N unicycle mobile robots as an instance of a nested set stabilization problem. Stabilization of the first set corresponds to driving the unicycles to their assigned paths. Stabilization of the second set, a subset of the first, corresponds to meeting the coordination specification. The first set is stabilized in a decentralized manner using feedback linearization. For arbitrary coordination tasks we utilize feedback linearization to stabilize the nested set in a centralized manner. In the special case in which coordination entails making the unicycles maintain a formation along their paths, we propose semi-distributed control law under less restrictive communication assumptions. Experimental results are provided.
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Alireza Doosthoseini, Christopher Nielsen (2015). Coordinated path following of unicycles : A nested invariant sets approach. UWSpace. http://hdl.handle.net/10012/17596
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